Can Iterative Learning Control Be Used In The Re-Education of Upper Limb Function, Mediated by Functional Electrical Stimulation (FES)?

Robots (Prange et al 2007) and FES can improve impairment levels and possibly function (De Kroon et al. 2002), (Burridge & Ladouceur 2001) of the upper limb post stroke. This study investigates the feasibility of using ILC mediated by FES to extend the ability of a stroke patient to perform a two dimensional tracking task with their arm supported by a robot arm. Iterative learning control reduces the error between the actual and desired trajectory during repeated performances of a reaching task by adjusting the level of FES. Preliminary tests to identify which muscles are active during this task and when were performed with neurologically intact participants